| 11,12 → 11,12 |
|---|
| // The channel array is 0-based! |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile uint16_t RC_buffer[MAX_CHANNELS]; |
| volatile uint8_t inBfrPnt = 0; |
| volatile uint8_t inBfrPnt; |
| |
| volatile uint8_t RCQuality; |
| |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
| uint8_t lastRCCommand; |
| uint8_t lastFlightMode; |
| |
| #define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s)) |
| |
| 72,9 → 72,7 |
|---|
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| |
| RCQuality = 0; |
| |
| SREG = sreg; |
| } |
| |
| 87,9 → 85,9 |
|---|
| oldICR1 = ICR1; |
| //sync gap? (3.5 ms < signal < 25.6 ms) |
| if (signal > TIME(3.5)) { |
| inBfrPnt = 0; |
| inBfrPnt = 0; |
| } else if (inBfrPnt<MAX_CHANNELS) { |
| RC_buffer[inBfrPnt++] = signal; |
| RC_buffer[inBfrPnt++] = signal; |
| } |
| } |
| |
| 115,7 → 113,7 |
|---|
| the syncronization gap. |
| */ |
| void RC_process(void) { |
| if (RCQuality) RCQuality--; |
| if (RCQuality) RCQuality--; |
| for (uint8_t channel=0; channel<MAX_CHANNELS; channel++) { |
| uint16_t signal = RC_buffer[channel]; |
| if (signal != 0) { |